#include "system.h"

namespace myslam
{
	System::System(const string& strSettingPath)
	{
		mpViewer = new Viewer(strSettingPath);
		mptViewer = new thread(&Viewer::Run, mpViewer);
		m_pVO = new myslam::VisualOdometry(strSettingPath, mpViewer);
	}

	cv::Mat System::TrackingRGBD(cv::Mat im, cv::Mat imD, double tframe)
	{
		return m_pVO->Tracking(im, imD, tframe);
	}
}